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Use stricter C++ type conversions (#4357)

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Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
  auto curTime = units::second_t(m_timer.Get());
                 ^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
This commit is contained in:
Tyler Veness
2022-08-17 13:42:36 -07:00
committed by GitHub
parent 151dabb2af
commit ac9be78e27
139 changed files with 547 additions and 593 deletions
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8
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
View File

@@ -32,19 +32,19 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
// Limit the PID Controller's input range between -pi and pi and set the input
// to be continuous.
m_turningPIDController.EnableContinuousInput(
-units::radian_t(wpi::numbers::pi), units::radian_t(wpi::numbers::pi));
-units::radian_t{wpi::numbers::pi}, units::radian_t{wpi::numbers::pi});
}
frc::SwerveModuleState SwerveModule::GetState() const {
return {units::meters_per_second_t{m_driveEncoder.GetRate()},
frc::Rotation2d(units::radian_t(m_turningEncoder.Get()))};
units::radian_t{m_turningEncoder.GetDistance()}};
}
void SwerveModule::SetDesiredState(
const frc::SwerveModuleState& referenceState) {
// Optimize the reference state to avoid spinning further than 90 degrees
const auto state = frc::SwerveModuleState::Optimize(
referenceState, units::radian_t(m_turningEncoder.Get()));
referenceState, units::radian_t{m_turningEncoder.GetDistance()});
// Calculate the drive output from the drive PID controller.
const auto driveOutput = m_drivePIDController.Calculate(
@@ -54,7 +54,7 @@ void SwerveModule::SetDesiredState(
// Calculate the turning motor output from the turning PID controller.
const auto turnOutput = m_turningPIDController.Calculate(
units::radian_t(m_turningEncoder.Get()), state.angle.Radians());
units::radian_t{m_turningEncoder.GetDistance()}, state.angle.Radians());
const auto turnFeedforward = m_turnFeedforward.Calculate(
m_turningPIDController.GetSetpoint().velocity);

2
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
View File

@@ -49,6 +49,6 @@ class Drivetrain {
// Gains are for example purposes only - must be determined for your own
// robot!
frc::SwerveDrivePoseEstimator<4> m_poseEstimator{
frc::Rotation2d(), frc::Pose2d(), m_kinematics,
frc::Rotation2d{}, frc::Pose2d{}, m_kinematics,
{0.1, 0.1, 0.1}, {0.05}, {0.1, 0.1, 0.1}};
};

6
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/ExampleGlobalMeasurementSensor.h
View File

@@ -16,9 +16,9 @@ class ExampleGlobalMeasurementSensor {
static frc::Pose2d GetEstimatedGlobalPose(
const frc::Pose2d& estimatedRobotPose) {
auto randVec = frc::MakeWhiteNoiseVector(0.1, 0.1, 0.1);
return frc::Pose2d(estimatedRobotPose.X() + units::meter_t(randVec(0)),
estimatedRobotPose.Y() + units::meter_t(randVec(1)),
return frc::Pose2d{estimatedRobotPose.X() + units::meter_t{randVec(0)},
estimatedRobotPose.Y() + units::meter_t{randVec(1)},
estimatedRobotPose.Rotation() +
frc::Rotation2d(units::radian_t(randVec(3))));
frc::Rotation2d{units::radian_t{randVec(3)}}};
}
};